State-switching control of the second-order chained form system
Systems and Control
2020-05-25 v1 Robotics
Systems and Control
Abstract
This paper addresses a motion planning problem of the second-order chained form system. The author presents a novel control approach based on switching a state. The second-order chained form system is composed of three subsystems including two double integrators and a nonlinear system. Switching a single state of the double integrators can modify the nature of the nonlinear system. Such state-switching and sinusoidal control construct the basis of the proposed control approach. The effectiveness is validated by a simulation result.
Cite
@article{arxiv.2005.11114,
title = {State-switching control of the second-order chained form system},
author = {Masahide Ito},
journal= {arXiv preprint arXiv:2005.11114},
year = {2020}
}
Comments
3 pages, 1 figure; this contribution was accepted as a late-breaking result at the IFAC WC 2020